LPOS reading

    I confess, I've been lazy. Normally I read a lot before I ask questions, but today I'm tired and I would like to have an answer for tomorrow.


    Let say that the robot is mounted at 15 degrees from the floor but I'm working on a horizontal table.
    Assume the table is user frame 7. How do I read the position of the TCP with respect to that user frame.


    Nomally I would do


    PR 15 = LPOS
    R 15 = PR 15,3


    How do I make reference to the user ? I dont want to use trigonometry


    Thanks

    Retired but still helping

    You are welcome.
    And always ensure the actually selected user and tool frames are correct, when visually reading position in user frame on the teach pendant, or teaching positions. Press SHIFT+COORD for quick selection popup.

Advertising from our partners